User manual

TMCM-6110 TMCL Firmware V1.19 Manual (Rev. 1.03 / 2012-JUL-31) 70
www.trinamic.com
Number
Axis Parameter
Description
Range [Unit]
Acc.
193
ref. search mode
1
search left stop switch only
2
search rightstop switch, then search left stop
switch
3
search right stop switch, then search left stop
switch from both sides
4
search left stop switch from both sides
5
search home switch in negative direction, reverse
the direction when left stop switch reached
6
search home switch in positive direction, reverse
the direction when right stop switch reached
7
search home switch in positive direction, ignore
end switches
8
search home switch in negative direction, ignore
end switches
Adding 128 to these values reverses the
polarity of the home switch input.
1… 8
RWE
194
referencing
search speed
For the reference search this value directly
specifies the search speed.
0… 2047
RWE
195
referencing
switch speed
Similar to parameter no. 194, the speed for
the switching point calibration can be
selected.
0… 2047
RWE
196
distance end
switches
This parameter provides the distance between
the end switches after executing the RFS
command (mode 2 or 3).
0… 8388307
R
204
freewheeling
Time after which the power to the motor will
be cut when its velocity has reached zero.
0… 65535
0 = never
[msec]
RWE
206
actual load value
Readout of the actual load value used for stall
detection (stallGuard2™).
0… 1023
R
208
TMC260 driver
error flags
Bit 0
stallGuard2™ status
(1:threshold reached)
Bit 1
Overtemperature
(1: driver is shut down due to
overtemperature)
Bit 2
Pre-warning overtemperature
(1: treshold is exceeded)
Bit 3
Short to ground A
(1: short condition deteted, driver
currently shut down)
Bit 4
Short to ground B
(1: short condition detected, driver currently
shut down)
Bit 5
Open load A
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 6
Open load B
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 7
Stand still
(1: no step impulse occurred on the step
input during the last 2^20 clock cycles)
Please refer to the TMC260 Datasheet for more
information.
0/1
R
213
Group index
All motors on the module which have the
same group index will get the same
commands when a ROL, ROR, MST, MVP or
RFS is issued for one of these motors.
0… 255
RW
214
power down
delay
Standstill period before the current is changed
down to standby current. The standard value
is 200 (value equates 2000msec).
1… 65535
[10msec]
RWE
*
1
Unit of acceleration:







